1 | /* tasks.h |
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2 | * |
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3 | * This include file contains all constants and structures associated |
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4 | * with RTEMS tasks. This manager provides a comprehensive set of directives |
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5 | * to create, delete, and administer tasks. |
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6 | * |
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7 | * Directives provided are: |
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8 | * |
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9 | * + create a task |
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10 | * + get an ID of a task |
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11 | * + start a task |
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12 | * + restart a task |
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13 | * + delete a task |
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14 | * + suspend a task |
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15 | * + resume a task |
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16 | * + set a task's priority |
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17 | * + change the current task's mode |
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18 | * + get a task notepad entry |
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19 | * + set a task notepad entry |
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20 | * + wake up after interval |
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21 | * + wake up when specified |
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22 | * |
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23 | * COPYRIGHT (c) 1989-1998. |
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24 | * On-Line Applications Research Corporation (OAR). |
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25 | * Copyright assigned to U.S. Government, 1994. |
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26 | * |
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27 | * The license and distribution terms for this file may be |
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28 | * found in the file LICENSE in this distribution or at |
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29 | * http://www.OARcorp.com/rtems/license.html. |
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30 | * |
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31 | * $Id$ |
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32 | */ |
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33 | |
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34 | #ifndef __RTEMS_RTEMS_TASKS_h |
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35 | #define __RTEMS_RTEMS_TASKS_h |
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36 | |
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37 | #ifdef __cplusplus |
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38 | extern "C" { |
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39 | #endif |
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40 | |
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41 | #include <rtems/score/object.h> |
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42 | #include <rtems/score/states.h> |
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43 | #include <rtems/score/thread.h> |
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44 | #include <rtems/rtems/types.h> |
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45 | #include <rtems/rtems/eventset.h> |
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46 | #include <rtems/rtems/asr.h> |
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47 | #include <rtems/rtems/attr.h> |
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48 | #include <rtems/rtems/status.h> |
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49 | |
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50 | /* |
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51 | * Constant to be used as the ID of current task |
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52 | */ |
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53 | |
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54 | #define RTEMS_SELF OBJECTS_ID_OF_SELF |
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55 | |
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56 | /* |
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57 | * This constant is passed to the rtems_task_wake_after directive as the |
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58 | * interval when a task wishes to yield the CPU. |
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59 | */ |
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60 | |
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61 | #define RTEMS_YIELD_PROCESSOR WATCHDOG_NO_TIMEOUT |
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62 | |
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63 | /* |
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64 | * Define the type for an RTEMS API task priority. |
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65 | */ |
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66 | |
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67 | typedef Priority_Control rtems_task_priority; |
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68 | |
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69 | #define RTEMS_NO_PRIORITY RTEMS_CURRENT_PRIORITY |
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70 | |
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71 | #define RTEMS_MINIMUM_PRIORITY (PRIORITY_MINIMUM + 1) |
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72 | #define RTEMS_MAXIMUM_PRIORITY PRIORITY_MAXIMUM |
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73 | |
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74 | /* |
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75 | * The following constant is passed to rtems_task_set_priority when the |
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76 | * caller wants to obtain the current priority. |
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77 | */ |
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78 | |
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79 | #define RTEMS_CURRENT_PRIORITY PRIORITY_MINIMUM |
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80 | |
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81 | /* |
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82 | * Notepads constants (indices into notepad array) |
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83 | */ |
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84 | |
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85 | #define RTEMS_NOTEPAD_FIRST 0 /* lowest numbered notepad */ |
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86 | #define RTEMS_NOTEPAD_0 0 /* notepad location 0 */ |
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87 | #define RTEMS_NOTEPAD_1 1 /* notepad location 1 */ |
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88 | #define RTEMS_NOTEPAD_2 2 /* notepad location 2 */ |
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89 | #define RTEMS_NOTEPAD_3 3 /* notepad location 3 */ |
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90 | #define RTEMS_NOTEPAD_4 4 /* notepad location 4 */ |
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91 | #define RTEMS_NOTEPAD_5 5 /* notepad location 5 */ |
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92 | #define RTEMS_NOTEPAD_6 6 /* notepad location 6 */ |
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93 | #define RTEMS_NOTEPAD_7 7 /* notepad location 7 */ |
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94 | #define RTEMS_NOTEPAD_8 8 /* notepad location 8 */ |
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95 | #define RTEMS_NOTEPAD_9 9 /* notepad location 9 */ |
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96 | #define RTEMS_NOTEPAD_10 10 /* notepad location 10 */ |
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97 | #define RTEMS_NOTEPAD_11 11 /* notepad location 11 */ |
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98 | #define RTEMS_NOTEPAD_12 12 /* notepad location 12 */ |
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99 | #define RTEMS_NOTEPAD_13 13 /* notepad location 13 */ |
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100 | #define RTEMS_NOTEPAD_14 14 /* notepad location 14 */ |
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101 | #define RTEMS_NOTEPAD_15 15 /* notepad location 15 */ |
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102 | #define RTEMS_NOTEPAD_LAST RTEMS_NOTEPAD_15 /* highest numbered notepad */ |
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103 | |
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104 | #define RTEMS_NUMBER_NOTEPADS (RTEMS_NOTEPAD_LAST+1) |
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105 | |
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106 | /* |
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107 | * External API name for Thread_Control |
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108 | */ |
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109 | |
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110 | typedef Thread_Control rtems_tcb; |
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111 | |
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112 | /* |
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113 | * The following defines the "return type" of an RTEMS task. |
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114 | */ |
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115 | |
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116 | typedef void rtems_task; |
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117 | |
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118 | /* |
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119 | * The following defines the argument to an RTEMS task. |
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120 | */ |
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121 | |
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122 | typedef unsigned32 rtems_task_argument; |
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123 | |
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124 | /* |
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125 | * The following defines the type for the entry point of an RTEMS task. |
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126 | */ |
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127 | |
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128 | typedef rtems_task ( *rtems_task_entry )( |
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129 | rtems_task_argument |
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130 | ); |
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131 | |
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132 | /* |
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133 | * The following records define the Initialization Tasks Table. |
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134 | * Each entry contains the information required by RTEMS to |
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135 | * create and start a user task automatically at executive |
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136 | * initialization time. |
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137 | */ |
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138 | |
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139 | typedef struct { |
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140 | rtems_name name; /* task name */ |
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141 | unsigned32 stack_size; /* task stack size */ |
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142 | rtems_task_priority initial_priority; /* task priority */ |
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143 | rtems_attribute attribute_set; /* task attributes */ |
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144 | rtems_task_entry entry_point; /* task entry point */ |
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145 | rtems_mode mode_set; /* task initial mode */ |
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146 | unsigned32 argument; /* task argument */ |
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147 | } rtems_initialization_tasks_table; |
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148 | |
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149 | /* |
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150 | * This is the API specific information required by each thread for |
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151 | * the RTEMS API to function correctly. |
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152 | */ |
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153 | |
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154 | |
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155 | typedef struct { |
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156 | unsigned32 Notepads[ RTEMS_NUMBER_NOTEPADS ]; |
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157 | rtems_event_set pending_events; |
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158 | rtems_event_set event_condition; |
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159 | ASR_Information Signal; |
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160 | } RTEMS_API_Control; |
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161 | |
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162 | /* |
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163 | * The following defines the information control block used to |
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164 | * manage this class of objects. |
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165 | */ |
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166 | |
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167 | RTEMS_EXTERN Objects_Information _RTEMS_tasks_Information; |
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168 | |
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169 | /* |
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170 | * These are used to manage the user initialization tasks. |
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171 | */ |
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172 | |
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173 | RTEMS_EXTERN rtems_initialization_tasks_table |
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174 | *_RTEMS_tasks_User_initialization_tasks; |
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175 | RTEMS_EXTERN unsigned32 _RTEMS_tasks_Number_of_initialization_tasks; |
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176 | |
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177 | /* |
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178 | * _RTEMS_tasks_Manager_initialization |
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179 | * |
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180 | * DESCRIPTION: |
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181 | * |
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182 | * This routine initializes all Task Manager related data structures. |
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183 | */ |
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184 | |
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185 | void _RTEMS_tasks_Manager_initialization( |
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186 | unsigned32 maximum_tasks, |
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187 | unsigned32 number_of_initialization_tasks, |
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188 | rtems_initialization_tasks_table *user_tasks |
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189 | ); |
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190 | |
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191 | /* |
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192 | * rtems_task_create |
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193 | * |
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194 | * DESCRIPTION: |
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195 | * |
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196 | * This routine implements the rtems_task_create directive. The task |
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197 | * will have the name name. The attribute_set can be used to indicate |
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198 | * that the task will be globally accessible or utilize floating point. |
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199 | * The task's stack will be stack_size bytes. The task will begin |
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200 | * execution with initial_priority and initial_modes. It returns the |
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201 | * id of the created task in ID. |
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202 | */ |
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203 | |
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204 | rtems_status_code rtems_task_create( |
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205 | rtems_name name, |
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206 | rtems_task_priority initial_priority, |
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207 | unsigned32 stack_size, |
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208 | rtems_mode initial_modes, |
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209 | rtems_attribute attribute_set, |
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210 | Objects_Id *id |
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211 | ); |
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212 | |
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213 | /* |
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214 | * rtems_task_ident |
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215 | * |
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216 | * DESCRIPTION: |
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217 | * |
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218 | * This routine implements the rtems_task_ident directive. |
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219 | * This directive returns the task ID associated with name. |
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220 | * If more than one task is named name, then the task to |
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221 | * which the ID belongs is arbitrary. node indicates the |
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222 | * extent of the search for the ID of the task named name. |
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223 | * The search can be limited to a particular node or allowed to |
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224 | * encompass all nodes. |
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225 | */ |
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226 | |
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227 | rtems_status_code rtems_task_ident( |
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228 | rtems_name name, |
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229 | unsigned32 node, |
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230 | Objects_Id *id |
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231 | ); |
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232 | |
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233 | /* |
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234 | * rtems_task_delete |
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235 | * |
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236 | * DESCRIPTION: |
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237 | * |
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238 | * This routine implements the rtems_task_delete directive. The |
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239 | * task indicated by ID is deleted. |
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240 | */ |
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241 | |
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242 | rtems_status_code rtems_task_delete( |
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243 | Objects_Id id |
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244 | ); |
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245 | |
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246 | /* |
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247 | * rtems_task_get_note |
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248 | * |
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249 | * DESCRIPTION: |
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250 | * |
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251 | * This routine implements the rtems_task_get_note directive. The |
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252 | * value of the indicated notepad for the task associated with ID |
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253 | * is returned in note. |
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254 | */ |
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255 | |
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256 | rtems_status_code rtems_task_get_note( |
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257 | Objects_Id id, |
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258 | unsigned32 notepad, |
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259 | unsigned32 *note |
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260 | ); |
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261 | |
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262 | /* |
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263 | * rtems_task_set_note |
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264 | * |
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265 | * DESCRIPTION: |
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266 | * |
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267 | * This routine implements the rtems_task_set_note directive. The |
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268 | * value of the indicated notepad for the task associated with ID |
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269 | * is returned in note. |
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270 | */ |
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271 | |
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272 | rtems_status_code rtems_task_set_note( |
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273 | Objects_Id id, |
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274 | unsigned32 notepad, |
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275 | unsigned32 note |
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276 | ); |
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277 | |
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278 | /* |
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279 | * rtems_task_mode |
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280 | * |
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281 | * DESCRIPTION: |
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282 | * |
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283 | * This routine implements the rtems_task_mode directive. The current |
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284 | * values of the modes indicated by mask of the calling task are changed |
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285 | * to that indicated in mode_set. The former mode of the task is |
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286 | * returned in mode_set. |
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287 | */ |
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288 | |
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289 | rtems_status_code rtems_task_mode( |
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290 | rtems_mode mode_set, |
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291 | rtems_mode mask, |
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292 | rtems_mode *previous_mode_set |
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293 | ); |
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294 | |
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295 | /* |
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296 | * rtems_task_restart |
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297 | * |
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298 | * DESCRIPTION: |
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299 | * |
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300 | * This routine implements the rtems_task_restart directive. The |
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301 | * task associated with ID is restarted at its initial entry |
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302 | * point with the new argument. |
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303 | */ |
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304 | |
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305 | rtems_status_code rtems_task_restart( |
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306 | Objects_Id id, |
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307 | unsigned32 arg |
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308 | ); |
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309 | |
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310 | /* |
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311 | * rtems_task_suspend |
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312 | * |
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313 | * DESCRIPTION: |
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314 | * |
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315 | * This routine implements the rtems_task_suspend directive. The |
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316 | * SUSPENDED state is set for task associated with ID. |
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317 | */ |
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318 | |
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319 | rtems_status_code rtems_task_suspend( |
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320 | Objects_Id id |
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321 | ); |
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322 | |
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323 | /* |
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324 | * rtems_task_resume |
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325 | * |
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326 | * DESCRIPTION: |
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327 | * |
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328 | * This routine implements the rtems_task_resume Directive. The |
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329 | * SUSPENDED state is cleared for task associated with ID. |
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330 | */ |
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331 | |
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332 | rtems_status_code rtems_task_resume( |
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333 | Objects_Id id |
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334 | ); |
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335 | |
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336 | /* |
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337 | * rtems_task_set_priority |
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338 | * |
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339 | * DESCRIPTION: |
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340 | * |
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341 | * This routine implements the rtems_task_set_priority directive. The |
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342 | * current priority of the task associated with ID is set to |
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343 | * new_priority. The former priority of that task is returned |
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344 | * in old_priority. |
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345 | */ |
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346 | |
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347 | rtems_status_code rtems_task_set_priority( |
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348 | Objects_Id id, |
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349 | rtems_task_priority new_priority, |
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350 | rtems_task_priority *old_priority |
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351 | ); |
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352 | |
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353 | /* |
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354 | * rtems_task_start |
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355 | * |
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356 | * DESCRIPTION: |
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357 | * |
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358 | * This routine implements the rtems_task_start directive. The |
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359 | * starting execution point of the task associated with ID is |
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360 | * set to entry_point with the initial argument. |
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361 | */ |
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362 | |
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363 | rtems_status_code rtems_task_start( |
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364 | Objects_Id id, |
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365 | rtems_task_entry entry_point, |
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366 | unsigned32 argument |
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367 | ); |
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368 | |
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369 | /* |
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370 | * rtems_task_wake_when |
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371 | * |
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372 | * DESCRIPTION: |
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373 | * |
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374 | * This routine implements the rtems_task_wake_when directive. The |
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375 | * calling task is blocked until the current time of day is |
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376 | * equal to that indicated by time_buffer. |
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377 | */ |
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378 | |
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379 | rtems_status_code rtems_task_wake_when( |
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380 | rtems_time_of_day *time_buffer |
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381 | ); |
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382 | |
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383 | /* |
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384 | * rtems_task_wake_after |
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385 | * |
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386 | * DESCRIPTION: |
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387 | * |
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388 | * This routine implements the rtems_task_wake_after directive. The |
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389 | * calling task is blocked until the indicated number of clock |
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390 | * ticks have occurred. |
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391 | */ |
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392 | |
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393 | rtems_status_code rtems_task_wake_after( |
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394 | rtems_interval ticks |
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395 | ); |
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396 | |
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397 | /*PAGE |
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398 | * |
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399 | * _RTEMS_tasks_Initialize_user_tasks |
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400 | * |
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401 | * This routine creates and starts all configured user |
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402 | * initialzation threads. |
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403 | * |
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404 | * Input parameters: NONE |
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405 | * |
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406 | * Output parameters: NONE |
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407 | */ |
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408 | |
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409 | void _RTEMS_tasks_Initialize_user_tasks( void ); |
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410 | |
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411 | #ifndef __RTEMS_APPLICATION__ |
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412 | #include <rtems/rtems/tasks.inl> |
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413 | #endif |
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414 | #if defined(RTEMS_MULTIPROCESSING) |
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415 | #include <rtems/rtems/taskmp.h> |
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416 | #endif |
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417 | |
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418 | #ifdef __cplusplus |
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419 | } |
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420 | #endif |
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421 | |
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422 | #endif |
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423 | /* end of include file */ |
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